Merge branch 'humble' of github.com:BehaviorTree/BehaviorTree.ROS2 into humble

Author: facontidavide

.github/workflows/test.yml

@@ -0,0 +1,28 @@
+name: Test
+on:
+  pull_request:
+  push:
+    branches:
+      - humble
+
+jobs:
+  build_and_test:
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: ${{ matrix.ros_distro }}
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
+    strategy:
+      fail-fast: false
+      matrix:
+          ros_distro: [humble]
+    steps:
+    - name: Build and run tests
+      id: action-ros-ci
+      uses: ros-tooling/action-ros-ci@v0.3
+      with:
+        target-ros2-distro: ${{ matrix.ros_distro }}
+    - uses: actions/upload-artifact@v1
+      with:
+        name: colcon-logs
+        path: ros_ws/log

README.md

@@ -1,4 +1,5 @@
 # BehaviorTree.ROS2
+[![Test](https://github.com/BehaviorTree/BehaviorTree.ROS2/actions/workflows/test.yml/badge.svg)](https://github.com/BehaviorTree/BehaviorTree.ROS2/actions/workflows/test.yml)
 
 This repository contains useful wrappers to use ROS2 and BehaviorTree.CPP together.
 
@@ -11,8 +12,8 @@ In particular, it provides a standard way to implement:
 
 Our main goals are:
 
-- to minimize the amount of bolierplate.
-- to make asynchonous Actions non-blocking.
+- to minimize the amount of boilerplate.
+- to make asynchronous Actions non-blocking.
 
 Note that this library is compatible **only** with:
 
@@ -27,6 +28,6 @@ wrap your Nodes into plugins that can be loaded at run-time.
 
 A lot of code is either inspired or copied from [Nav2](https://navigation.ros.org/).
 
-To this reason we retain the same license and copyright.
+For this reason, we retain the same license and copyright.
 
 

behaviortree_ros2/package.xml

@@ -11,6 +11,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>libboost-dev</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>behaviortree_cpp</depend>

btcpp_ros2_samples/src/subscriber_test.cpp

@@ -52,16 +52,12 @@ int main(int argc, char **argv)
   params.default_port_value = "btcpp_string";
   factory.registerNodeType<ReceiveString>("ReceiveString", params);
 
+  auto tree = factory.createTreeFromText(xml_text);
+
   while(rclcpp::ok())
   {
-    auto tree = factory.createTreeFromText(xml_text);
-    for(int i=0; i<10; i++)
-    {
-      tree.tickWhileRunning();
-      std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    }
-    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    tree.tickWhileRunning();
   }
 
   return 0;
-}
+}